Kinematics of composite wheeled submarine vehicle based on D-H coordinate transformation

To enable submarine vehicle having a good autonomous navigation to complete the simulation test in deep-sea complex terrain and rough terrain path, it is required to establish a reasonable kinematic model based on multi-sensor of a real-time monitoring information. Taking composite wheeled submarine vehicle as the research object, based on D-H transform modeling method and the feature of complex topographical environment in deep sea, the kinematical equation of the vehicle of deep seabed was deduced and the gesture information of vehicle was obtained, and relevant kinematic parameters curves were gained by using MATLAB tools. Based on the kinematic analysis, using AMAMS software to establish the kinematic simulation model of the vehicle, the kinematic parameters curves were obtained. By comparing theoretical calculations and simulation experimental results the correctness of the established kinematic model was verified, laying the foundation for path planning and motion control of the vehicle.